Transfer device

ABSTRACT

A transfer device includes a carrying-in area (A 1 ) into which a carriage is carried. A positioning mechanism includes left and right rocking arms ( 60 ) that engage with and disengage from the carriage to lift the carriage while holding it from both left and right sides and position it at a predetermined height position in the carrying-in area. A transfer mechanism ( 110 ) transfers an object from between the positioned carriage and a transfer area. With this construction, the rocking arms lift the carriage from both the left and right sides and from the lower side and position the carriage away from a floor surface. The positioning of the carriage is performed during a rocking operation of the rocking arms, whereby the carriage can be easily and highly accurately positioned without being affected by the flatness of the floor surface even if the carriage has dimensional assembly errors.

TECHNICAL FIELD

The present invention relates to a transfer device that positions acarriage (e.g., a hand carriage or a self-propelled carriage) having anobject (e.g., a component such as a substrate, or a rack, a magazine ora cassette accommodating components therein) mounted thereon to apredetermined position to transfer (deliver or receive) the objectbetween the carriage and a transfer area to which the object istransferred to be subjected to predetermined processing, and moreparticularly to a transfer device including a positioning mechanism thatpositions a carriage.

BACKGROUND ART

In a processing line for performing predetermined processing withrespect to, e.g., components of an electronic device or a machine, anoperator mounts an object such as a rack accommodating such componentson a carriage and then carries and delivers to each processing area (oran adjacently arranged transfer device), and receives processed objects(components) from a processing area (or a transfer device) and mountsthem on a carriage and then carries to the next processing area, and thesame operations are repeated.

Here, to assuredly transfer each object, the carriage must be securelypositioned with respect to the processing area (or the transfer device).

As a conventional technique for positioning a carriage with respect to aprocessing device (a transfer area), there is known a technique ofproviding a positioning pin at an underside of a front surface of theprocessing device, forming a positioning hole at an underside of a frontside of the carriage, and positioning the carriage with respect to theprocessing device when an operator moves the carriage closer to theprocessing device to fit the positioning pin into the positioning hole(e.g., Patent Document 1).

In this carriage and the processing device, a table on which an objectis mounted, a motor that moves the table up and down, a transfermechanism that transfers the object, and features are provided withregard to the carriage, the carriage is positioned, and then the tableis appropriately moved up and down so that the object can be grasped bythe transfer mechanism to be transferred to the processing device.

However, when this positioning technique is adopted, since the carriageis positioned with respect to the processing device in a state that(each wheel of) the carriage is in contact with a floor surface, itspositioning accuracy is dependent on flatness of the floor surface.Therefore, the carriage may not be highly accurately positioned if thefloor surface is not flat.

Further, in this transfer technique, since the elevation motor and thetransfer mechanism are provided to the carriage, a dedicated carriage isnecessary, which results in an increase in cost. When a carriage must beprepared for each object, in particular, a plurality of different typesof carriages are required, leading to a further increase in cost.

As another technique for positioning a carriage with respect to aprocessing device (a transfer area), there is known a technique ofproviding a groove on a lower surface of a carriage and a protrusion onan upper surface of a frame in order to position the carriage integrallyincluding a magazine accommodating components with respect to a transferdevice (a stocker and an operation unit) including the frame capable ofmoving up and down and a pair of lifters that move the frame up anddown. The carriage is moved up so as to be spaced from a floor surfaceand positioned while inserting the protrusion on the frame into thegroove of the carriage and the carriage in positioned when an operatormoves the carriage immediately above the frame with the frame beinglowered and then operates the pair of lifters to move the frame up (see,e.g., Patent Document 2).

However, according to this technique, since the frame cannot be visuallyrecognized when the carriage is moved to the upper part of the frame, itis difficult to position the groove of the carriage with respect to theprotrusion of the frame, and moving the frame in a displaced statecauses the carriage to be lifted in an inclined state, whereby an objectpossibly may not be assuredly transferred.

Furthermore, although the carriage is usually assembled in eachproduction line (a factory) by an operator, an assembly error may ariseat the time of assembly, or an assembly error intrinsic to each countrymay arise when the carriage is used in a production line (a factory) ineach country. When the carriage has an intrinsic assembly error in thismanner, utilizing the above-described conventional positioning techniquemay possibly result in a malfunction (e.g., a positioning error where apart of a carriage is caught by a part of a processing device and hencepositioning cannot be performed) when positioning the carriage in aprocessing area (or a transfer device) or a malfunction (e.g., apositioning error where a part of a carriage is caught by a part of aprocessing device and hence positioning cannot be canceled) whencanceling positioning of the carriage.

Moreover, distortion (inclination) or backlash is produced when acarriage assembled within a previously allowable dimension error rangeis repeatedly utilized in a production line (a factory) or the like overa long period. Therefore, a positioning error at the time of positioningthe carriage or a transfer error at the time of transferring an objectmounted on the carriage may occur when the carriage is continuously usedin such a state, whereby production efficiency possibly may be lowered.

-   Patent Document 1: Unexamined Japanese Patent Publication No.    11-255321-   Patent Document 2: Unexamined Japanese Patent Publication No.    60-262776

DISCLOSURE OF INVENTION Problem to be Solved by the Invention

In view of the above-described problem, it is an object of the presentinvention to provide a transfer device that can highly accuratelyposition a carriage having an object (e.g., a component of a substrate,or a rack, a magazine or a cassette accommodating components therein)mounted thereon to a predetermined position while achievingsimplification of the configuration, a reduction in cost and otheraspects, avoid backlash of the carriage or correct distortion of thecarriage, and smoothly, assuredly and efficiently transfer (deliver orreceive) the object between the carriage and a transfer area to whichthe object is transferred to be subjected to processing.

Means for Solving Problem

A transfer device according to the present invention that achieves theobject is a transfer device that positions a carriage configured tomount an object thereon at a predetermined position and transfers theobject between the carriage and a transfer area. The device includes acarrying-in area into which the carriage is carried; a positioningmechanism that includes left and right rocking arms configured to engagewith and disengage from the carriage so that the carriage in thecarrying-in area is lifted by being sandwiched from both sides in alateral direction and is positioned at a predetermined height; and atransfer mechanism that transfers the object between the carriagepositioned by the positioning mechanism and the transfer area.

According to this structure, when the carriage is carried into thecarrying-in area, the left and right rocking arms of the positioningmechanism engage with and lift up the carriage so as to sandwich thecarriage from both left and right sides (as seen from the carrying-indirection) in synchronization with each other from a state disengagedfrom the carriage, and position the carriage to a predetermined heightposition. As described above, the rocking arms lift up the carriage fromboth the left and right sides and the lower side and position thecarriage to a position apart from a floor surface, and positioning ofthe carriage is carried out at the time of a rocking operation of therocking arms (an operation for shifting to an engaged support state froma disengaged downward state), whereby the carriage can be highlyaccurately positioned to a predetermined position without being affectedby flatness of the floor surface even though each carriage has, e.g., anassembly error in dimension or distortion (inclination).

In the above-described structure, it is possible to adopt a structurefurther comprising a correction mechanism that corrects distortion inthe lateral direction of the carriage carried in the carrying-in area.

According to this structure, since distortion (e.g., inclination) of thecarriage carried into the carrying-in area is corrected by thecorrection mechanism, the carriage can be highly accurately positionedwhile performing correction even if the carriage has, e.g., deformationwith time.

In the above-described structure, it is possible to adopt a structurethat the correction mechanism includes at least two correction guidesthat are arranged at a predetermined interval in the lateral directionso as to engage with opposed inner portions of left and right verticalframes that form a part of the carriage.

According to this structure, since two correction guides engage with theinner portions of the left and right vertical frames, respectively, tocorrect distortion (inclination of the vertical frames) when thecarriage is carried into the carrying-in area, the carriage can be heldin an original posture and highly accurately positioned.

In the above-described structure, it is possible to adopt a structurethat the positioning mechanism includes left and right elevating holdersthat hold the left and right rocking arms to allow their rocking motion,left and right driving units that drive the elevating holders to move upand down, and left and right engagement portions that engage with therocking arms and rock the rocking arms in interlocking with an elevatingoperation of the elevating holders.

According to this structure, when the left and right elevating holdersare moved up by the left and right driving units in synchronization witheach other, the left and right rocking arms engaged with the left andright engagement portions lift up the left and right horizontal framesforming a part of the carriage so as to hold them from both sides insynchronization with each other in interlocking with the moving-upoperation. In this manner, the simple structure and the simple linearoperation and rocking operation enable lifting up and positioning thecarriage.

In the above-described structure, it is possible to adopt a structure inwhich the rocking arms include first guide portions that engage withvertical frames forming a part of the carriage and position the carriagewhile guiding the carriage in the carrying-in direction simultaneouslywith an operation of lifting up horizontal frames forming a part of thecarriage based on an upward rotation from a lower side.

According to this structure, since the left and right first guideportions provided to the left and right rocking arms position thevertical frames of the carriage while guiding the vertical frames in thecarrying-in direction simultaneously with the operation of lifting upthe horizontal frames of the carriage by the left and right rockingarms, distortion (inclination) of the carriage in the carrying-indirection can be corrected, and the carriage can be highly accuratelypositioned.

In the above-described structure, it is possible to adopt a structure inwhich the rocking arm is formed into a substantially-L-like shape anddefines a supporting portion configured to support the carriage and asupported portion that is extended from an end portion of the supportingportion and supported to allow its rocking motion, and the engagementportion is a roller that is rotatably in contact with the supportedportion.

According to this structure, when the supported portion is moved up ordown, a position at which the supported portion is in contact with theroller changes, and the rocking arms rock to reciprocate between a statewhere the supporting portion engages with the carriage to support and astate that the supporting portion disengages from the carriage to cancelthe support. In this manner, when the rocking arm has thesubstantially-L-like shape and the engagement portion is a roller,miniaturization and simplification of the entire device can be achieved,and the supporting operation and the cancel operation of the supportingbased on rocking can be smoothly effected.

In the above-described structure, it is possible to adopt a structure inwhich the rocking arm has second guide portions that incline downwardsfrom the supported portion to the supporting portion.

According to this structure, when the rocking arms shift to a statewhere the rocking arms engage with the carriage to support the carriagefrom a state where the rocking arms disengage from the carriage, thesecond guide portions position the carriage to the center in a lateraldirection (a horizontal direction vertical to the carrying-in direction)in the carrying-in area and correct distortion (inclination) of thecarriage in the lateral direction. Therefore, highly accuratepositioning can be carried out.

In the above-described structure, it is possible to adopt a structure inwhich a region of the supported portion that is in contact with theroller is formed to be concavely curved.

According to this structure, since the roller can be constantly incontact with the concave curved portion of the supported portion whenthe supported portion is moved up and down, the roller forcibly rotateseach rocking arm in the downward direction. Since the disengagementoperation is not only based on the dead weight of the rocking armsalone, the disengagement operation can be more assuredly performed.

In the above-described structure, it is possible to adopt a structure inwhich the driving unit includes a follower provided to the elevatingholder, a rotating cam that comes into contact with the follower toexercise a cam function in the vertical direction, and a motor thatdrives the rotating cam.

According to this structure, when the motor rotates the rotating cam,the follower receives the cam function, thereby driving the elevatingholders to be moved up and down. As described above, the driving unitcan be formed to have the simple configuration, and simplification,miniaturization and other advantages of the device can be achieved whileassuredly effecting the elevating operation.

In the above-described structure, it is possible to adopt a structurewhere the driving unit includes a restriction member that restricts thefollower from being separated from the rotating cam when the rotatingcam lowers the elevating holder.

According to this structure, when the rotating cam lowers the elevatingholder, the restriction member restricts the follower of the elevatingholder from being separated from the rotating cam. Therefore, theelevating holder can be prevented from being caught and stopped on theway. As a result, the carriage can be assuredly moved down to cancelpositioning.

In the above-described structure, it is possible to adopt a structurethat the carrying-in area is provided with positioning guides thatposition the carriage while guiding the carriage in the carrying-indirection of the carriage and a horizontal direction vertical to thecarrying-in direction.

According to this structure, when an operator carries the carriage intothe carrying-in area of the device, the positioning guides position thecarriage in an allowable range within the horizontal plane (within therange where an assembly error and such of each carriage can be absorbed)in the carrying-in direction (a depth direction) and the lateraldirection (the horizontal direction vertical to the carrying-indirection). Therefore, it is good enough for an operator to just movethe carriage into the carrying-in area, positioning effected by theoperator is not required, and the carrying-in operation can be readilyperformed.

In the above-described structure, it is possible to adopt a structure inwhich a mount portion forming a part of the carriage includes a carryingbody driven so as to carry the object, and the transfer device furtherincludes a coupling driving unit that is arranged at a position adjacentto the carriage positioned at a predetermined height position by thepositioning mechanism and separably coupled with the carrying body so asto exert driving force on the carrying body.

According to this structure, when the carriage is carried into thecarrying-in area and lifted up and positioned to the predeterminedheight position by the positioning mechanism, the coupling driving unitcan be coupled with the carrying body of the carriage to exert drivingforce. Therefore, the carrying body can be operated based on the drivingforce from the coupling driving unit, thereby carrying the objectmounted thereon.

As described above, since the carriage is provided with only thecarrying body and the device is provided with the driving mechanism (thecoupling driving unit) for the carrying body, a cost for the pluralityof types of carriages can be reduced.

In the above-described structure, it is possible to adopt a structurethat the carrying body includes carrying bodies on a plurality of stagesarranged in the vertical direction, and the coupling driving unitincludes a plurality of coupling driving units separably coupled withthe carrying bodies on the plurality of stages.

According to this structure, the objects can be mounted on a pluralityof stages in the vertical direction in the carriage, and the objects canbe carried (delivered and received) in each carrying body.

In the above-described structure, it is possible to adopt a structure inwhich the transfer device includes one synchronous driving unit thatcouples and decouples the plurality of coupling driving units insynchronization with each other.

According to this structure, using one synchronous driving unit enablesperforming the coupling operation and the decoupling operation of theplurality of coupling driving units, thereby simplifying theconfiguration.

In the above-described structure, it is possible to adopt a structurethat the transfer mechanism is formed so as to transfer the objectbetween the carrying bodies on the plurality of stages and the transferarea.

According to this structure, since the transfer mechanism transfers theobject between the carrying bodies on the plurality of stages and thetransfer area, transfer of an unprocessed object to the transfer areaand transfer of a processed object to the carrying body can be smoothlyand efficiently performed.

Advantageous Effect of the Invention

According to the transfer device having the above-described structure,the carriage having the object (e.g., a component such as a substrate,or a rack, a magazine or a cassette accommodating components) mountedthereon can be highly accurately positioned at a predetermined positionwhile achieving simplification of the configuration, a reduction in costand other advantages, backlash of the carriage can be avoided ordistortion of the carriage can be corrected, and transfer (delivery orreception) of the object can be smoothly, assuredly and efficientlyperformed between the carriage and the transfer area to which the objectis transferred to be subjected to predetermined processing.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1A is a plan view showing an embodiment of a carriage applied to atransfer device according to the present invention;

FIG. 1B is a front view showing an embodiment of the carriage applied tothe transfer device according to the present invention;

FIG. 2A is a left side view showing an embodiment of the carriageapplied to the transfer device according to the present invention;

FIG. 2B is a right side view showing an embodiment of the carriageapplied to the transfer device according to the present invention;

FIG. 3 is a plan view showing an embodiment of the transfer deviceaccording to the present invention;

FIG. 4 is a side view showing an embodiment of the transfer deviceaccording to the present invention;

FIG. 5 is a front view showing an embodiment of the transfer deviceaccording to the present invention;

FIG. 6 is a front view showing (a left-side portion of) a positioningmechanism forming a part of the transfer device according to the presentinvention;

FIG. 7A is a plan view showing (a right-side portion of) the positioningmechanism forming a part of the transfer device according to the presentinvention;

FIG. 7B is an inner side view showing (the right-side portion) of thepositioning mechanism forming a part of the transfer device according tothe present invention;

FIG. 8 is a front view for explaining an operation of the positioningmechanism;

FIG. 9 is a front view including a partially enlarged plan view forexplaining the operation of the positioning mechanism;

FIG. 10 is a side view showing a coupling driving unit forming a part ofthe transfer device according to the present invention;

FIG. 11A is a plan view for explaining an operation of the couplingdriving unit;

FIG. 11B is a plan view for explaining the operation of the couplingdriving unit;

FIG. 12 is a front view for explaining the operation of the couplingdriving unit;

FIG. 13 is a front view for explaining the operation of the couplingdriving unit;

FIG. 14 is a side view and a front view showing a state in which thecarriage is carried into a carrying-in area of the transfer device inthe transfer device according to the present invention;

FIG. 15 is a front view and a side view showing a state in which thecarriage is lifted up and positioned by the positioning mechanism in thetransfer device according to the present invention;

FIG. 16 is a front view and a side view showing a state in which thecarriage positioned by the positioning mechanism is further moved up andpositioned to a predetermined height position in the transfer deviceaccording to the present invention;

FIG. 17 is a front view and a side view showing a state in which acarrying body of the carriage is coupled by a coupling driving unit toenable driving in the transfer device according to the presentinvention;

FIG. 18 comprises side views showing a transfer (delivery and reception)operation of an object between a transfer mechanism and the carriage inthe transfer device according to the present invention;

FIG. 19 is a side view showing another embodiment of a rotating cam of apositioning mechanism included in the transfer device according to thepresent invention;

FIG. 20 is a side view showing still another embodiment of the rotatingcam of the positioning mechanism included in the transfer deviceaccording to the present invention;

FIG. 21 is a front view showing another embodiment of a rocking arm ofthe positioning mechanism included in the transfer device according tothe present invention; and

FIG. 22 is a front view showing still another embodiment of the rockingarm of the positioning mechanism included in the transfer deviceaccording to the present invention.

EXPLANATIONS OF LETTERS OR NUMERALS

-   X lateral direction (direction vertical and horizontal to a carrying    direction)-   Y carrying-in direction-   Z vertical direction-   W rack (object)-   10 carriage-   11 lower surface frame-   12 upper surface frame-   13 left and right horizontal frames-   14 left and right vertical frames-   15 endless belt (carrying body)-   16 shaft (carrying body)-   17 driven rotating body (carrying body)-   17 a coupling surface-   18 wheel-   19 grip-   M transfer device-   20 base-   A1 carrying-in area-   A2 transfer area-   21 positioning guide-   21 a linear edge portion-   21 b inclined edge portion-   30 rear wall-   40 left and right side walls-   41 connecting frame-   42 correction guide (correction guide mechanism)-   50 left and right elevating holders (positioning mechanism)-   51 guide rail-   52 guided portion-   53 bearing portion-   54 supporting portion-   60, 60′, 60″ left and right rocking arms (positioning mechanism)-   61 supporting portion-   62, 62′ supported portion-   63 first guide portion-   63 a tapered surface-   64 shaft-   65″ second guide portion-   70, 70′, 70″ left and right driving units (positioning mechanism)-   71, 71′ follower-   72, 72′ rotating cam-   72 a cam surface-   72 a′ cam groove (restriction member)-   73 motor-   73 a rotary shaft-   74″ restriction member-   80 left and right rollers (left and right engagement portions,    positioning mechanism)-   90 coupling driving unit-   91 coupling-   91 a coupling surface-   91 b annular groove-   91 c end face-   92 motor-   93 coil spring-   100 synchronous driving unit-   101 rod-   102 interlocking member-   103 driven arm-   104 driving arm-   105 motor-   110 transfer mechanism-   111 mount member-   112 first elevation driving mechanism-   113 upper push member-   114 second elevation driving mechanism-   115 transfer hand-   116 horizontal driving mechanism-   120 second transfer mechanism

BEST MODE(S) FOR CARRYING OUT THE INVENTION

The best embodiment according to the present invention will now bedescribed hereinafter with reference to the accompanying drawings.

As shown in FIGS. 1A to 5, a transfer device M positions a carriage 10having a rack W as an object (which accommodates components such assubstrates on a plurality of stages) mounted thereon to a predeterminedheight position, corrects distortion (inclination) of the carriage 10,and transfers (delivers or receives) the rack W between the carriage 10and a transfer area where the rack W is transferred to be subjected topredetermined processing. It is to be noted that, in this transferdevice M, a carrying-in direction of the carriage 10 is represented asY; a lateral direction which is perpendicular to the carrying-indirection Y is represented as X; and a vertical direction (aperpendicular direction) is represented as Z.

As shown in FIGS. 1A to 2B, the carriage 10 includes a lower surfaceframe 11, an upper surface frame 12, left and right horizontal frames 13arranged at a substantially central position between the lower surfaceframe 11 and the upper surface frame 12, left and right vertical frames14 which are connected to the lower surface frame 11 and the uppersurface frame 12 and connected to the left and right horizontal frames13, a lower carrying body (an endless belt 15 as a support portionarranged on the lower surface frame 11, shafts 16 which rotate theendless belts 15, and driven rotating bodies 17 integrally provided atend portions of the shafts 16), an upper carrying body (an endless belt15 as a support portion arranged on the upper surface frame 12, shafts16 which rotate the endless belt 15, and driven rotating bodies 17integrally provided at end portions of the shafts 16), four wheels 18provided on the lower surface frame 11, a grip 19 held by an operator,and others.

Each of the left and right horizontal frames 13 is formed so as to havea rectangular cross section, and supporting portions 61 oflater-described left and right rocking arms 60 are engaged with flatlower surfaces of the horizontal frames so that the carriage 10 can besupported.

Each of the left and right vertical frames 14 is formed so as to have arectangular cross section, first guide portions 63 of later-describedleft and right rocking arms 60 can engage with upright surfaces, whichface the front side, of the left and right vertical frames 14 placed ona deep side in the carrying direction Y, and later-described twocorrection guides 23 can engage with upright surfaces, which are innerside portions opposed each other, of the left and right vertical frames14 placed on the deep side in the carrying direction Y.

The endless belts 15 constituting the carrying bodies are arranged ontwo stages in the vertical direction, and the endless belts can mountthe racks W thereon and carry the racks in the carrying-in direction Y.

Each driven rotating body 17 has a coupling surface 17 a with which acoupling 91 (a coupling surface 91 a) of a later-described couplingdriving unit 90 is coupled. The coupling surface 17 a is formed so as todefine a concave portion that can be fitted onto a convex portion of thecoupling surface 91 a. Further, when the coupling surface 91 a iscoupled with the coupling surface 17 a to transmit a rotating drivingforce, the driven rotating body 17 drives the endless belt 15 throughthe shaft 16.

Since the carriage 10 is provided with only the carrying bodies (theendless belts 15, the shafts 16, and the driven rotating bodies 17) ontwo stages in the vertical direction without being provided with adriving mechanism, simplification of the configuration, a reduction inweight and a decrease in cost can be achieved. Furthermore, since theracks W can be mounted on the two stages in the vertical direction Z inthe carriage 10, the racks W (e.g., a processed rack W that is mountedon the endless belt 15 on the upper side, and an unprocessed rack W thatis mounted on the endless belt 15 on the lower side) can be carried(delivered and received) in the respective carrying bodies.

As shown in FIGS. 3 to 5, the transfer device M includes a base 20 thatdefines a carrying-in area A1 of the carriage 10 and a transfer area A2to which the rack W is transferred, a rear wall 30 and left and rightsidewalls 40 provided on the base 20 in an upright manner, left andright elevating holders 50, left and right rocking arms 60 supported bythe elevating holders 50 to allow their rocking movement, left and rightdriving units 70 that drive the elevating holders 50 to move up anddown, left and right rollers 80 as left and right engagement portionsthat engage with the rocking arms 60 and rock the rocking arms 60 byinterlocking with an elevating operation of the elevating holders 50,two coupling driving units 90 arranged on upper and lower sides, onesynchronous driving unit 100, a transfer mechanism 110 that transfersthe rack W between the carriage 10 and the transfer area A2, a secondtransfer mechanism 120 that is interposed between the transfer area A2and a processing area (not shown) to transfer components and othersaccommodated in the rack W, and others.

Here, the left and right elevating holders 50, the left and rightrocking arms 60, the left and right driving units 70, the left and rightrollers 80 (engagement portions) and others constitute a positioningmechanism that can lift up the carriage 10 to a predetermined heightposition to position the carriage and correct distortion (inclination)or backlash of the carriage 10.

As shown in FIGS. 3 to 5, the base 20 is formed into a tabular shape anddefines the carrying-in area A1 that receives the carriage 10 in aregion on the front side in the carrying-in direction Y and the transferarea A2 to which the rack W is transferred in a region behind (on thedeep side in the carrying-in direction Y) and above the carrying-in areaA1.

As shown in FIG. 3, the carrying-in area A1 is formed into a rectangularshape by notching the base 20 so as to receive the carriage 10, and aninner edge portion thereof defines positioning guides 21 that guide andposition the carriage 10 in the carrying-in direction Y of the carriage10 and the lateral direction X.

The positioning guides 21 are formed of left and right linear edgeportions 21 a that define a width in the lateral direction X and leftand right inclined edge portions 21 b that define a depth in thecarrying-in direction Y.

Moreover, the left and right linear edge portions 21 a restrictdisplacement of the carriage 10 in the lateral direction X to fallwithin an allowable range for positioning, and the left and rightinclined edge portions 21 b position the carriage 10 in an allowablerange in the carrying-in direction (the depth direction) Y.

As shown in FIGS. 3 to 5, the rear wall 30 is fixed so as to be erectedin the vertical direction (a perpendicular direction) Z at the innermostportion of the base 20 in the carrying-in direction Y, and formed so asto hold the transfer mechanism 110.

As shown in FIGS. 3 and 5, each of the left and right sidewalls 40 isformed into an upright plate-like shape so as to hold the left and rightelevating holders 50 (and the left and right rocking arms 60), the leftand right driving units 70 and the left and right rollers 80.Additionally, as shown in FIGS. 3 to 5, the right sidewall 40 is formedso as to hold the two coupling driving units 90 and one synchronousdriving unit 100.

As shown in FIGS. 3 and 4, the left and right sidewalls 40 are providedwith a connecting frame 41 that connects the left and right sidewallswith each other in the lateral direction X, and two correction guides 42are fixed to the connecting frame 41. The two correction guides and theconnecting frame 41 constitute a correction mechanism that correctsdistortion (inclination) of the carriage 10, which has been carried intothe carrying-in area A1, in the lateral direction X.

As shown in FIGS. 3 and 4, the connecting frame 41 is formed so as tohave a substantially rectangular cross section and extend in the lateraldirection X, and the connecting frame is positioned to a height positionnear a lower portion of the upper coupling driving unit 90 and connectedto the left and right sidewalls 40.

As shown in FIGS. 3 and 4, the two correction guides 42 are formed so asto extend in the carrying-in direction Y and define inclined guidesurfaces 42 a in an end region facing the carriage 10, and the twocorrection guides are fixed to a lower surface of the connecting frame41 at a predetermined interval in the lateral direction X. That is, thetwo correction guides 42 are arranged away from each other in such amanner that a distance to both outer surfaces in the lateral direction Xbecomes slightly smaller than an interval between the opposed uprightsurfaces (the inner portions) of the left and right vertical frames 14placed on the deep side in the carrying-in direction Y of the carriage10.

Additionally, when the carriage 10 is carried into the carrying-in areaA1, the two correction guides 42 engage with the opposed uprightsurfaces (the inner portions) of the left and right vertical frames 14to correct distortion (inclination), hold the carriage 10 in an originalposture, and highly accurately position the carriage. Therefore, even ifdeformation or the like occurs in the carriage 10 with time, thecarriage 10 can be corrected and highly accurately positioned.

Here, although the connecting frame 41 that connects the left and rightsidewalls 40 with each other at the height position near the lowerportion of the upper coupling driving unit 90 and the two correctionguides 42 fixed to the connecting frame 41 have been described, aconnecting frame that connects the left and right sidewalls with eachother at a height position near a lower portion of the lower couplingdriving unit 90 may be provided, and two correction guides fixed to thisconnecting frame may be further provided.

As shown in FIGS. 3 to 7B, the elevating holder 50 includes a plate-likemain body portion 50 a, two guide rails 51 fixed to the sidewall 40,guided portions 52 that are fixed to the main body portion 50 a andslidably connected to the guide rails 51 to be guided, two bearingportions 53 that are fixed to the upper part of the main body portion 50a and support the rocking arms 60 to allow their rocking motion, asupporting portion 54 that is provided to a lower end of the main bodyportion 50 a and rotatably supports a later-described follower 71.

As shown in FIG. 7B, the two guide rails 51 are extended in the verticaldirection (the perpendicular direction) Z to be arranged in parallel.

One or more (two in this example) guided portions 52 are provided toeach guide rail 51.

As shown in FIGS. 3 to 7B, each of the left and right rocking arms 60 isformed into a substantially-L-like shape, and each of the rocking armsincludes two supporting portions 61 that can support the horizontalframe 13 of the carriage 10, two supported portions 62 verticallyextended from end portions of the supporting portions 61, a first guideportion 63 adjacently provided at the rear of one supporting portion 61,a shaft 64 that connects the two supported portions 62 with each other,extends in the carrying-in direction (a front-and-back direction) Y andis rotatably supported by the bearing portion 53 of the elevating holder50.

The supporting portion 61 is formed so as to engage with and disengagefrom the horizontal frame 13 of the carriage 10 as indicated by a solidline and a two dot-dash line in FIG. 9.

The supported portion 62 is held in a state that its side surface is incontact with the roller 80 rotatably supported with respect to thesidewall 40.

As shown in FIG. 3 and a partially enlarged plan view in FIG. 9, thefirst guide portion 63 is formed so as to define a tapered surface 63 ahaving a tapered shape that can engage with (the upright surface on thefront side in the carrying-in direction Y of) the vertical frame 14 ofthe carriage 10. The tapered surface 63 a is formed so as to positionthe carriage 10 and correct distortion (inclination) of the carriage 10in the carrying-in direction Y while guiding the vertical frame 14 ofthe carriage 10 in the carrying-in direction Y of the carriage 10 andthe lateral direction X.

Further, the left and right rocking arms 60 lift up the carriage 10 (theleft and right horizontal frames 13) by holding them from both the leftand right sides and position it to a predetermined height position asshown in FIG. 9 when the elevating holders 50 (the shaft 64) move upfrom a state that the elevating holders 50 are placed on the lower sideand the left and right rocking arms 60 are separated from the carriage10 as shown in FIG. 8, and, on the other hand, these arms cancel thepositioning of the carriage 10 via the opposite route from FIG. 9 toFIG. 8 when the elevating holders 50 move down.

Furthermore, when the left and right rocking arms 60 rotate upwards fromthe lower side, the tapered surfaces 63 a of the left and right firstguide portions 63 engage with the left and right vertical frames 14 toguide and position the carriage 10 in the carrying-in direction Y andthe lateral direction X as shown in the partially enlarged plan view inFIG. 9 and correct distortion (inclination) of the carriage 10 in thecarrying-in direction Y simultaneously with the operation of lifting upthe left and right horizontal frames 13 performed by the left and rightsupport portions 61. It is to be noted that FIGS. 8 and 9 show the leftrocking arm 60 alone.

As shown in FIGS. 5 to 7B, each of the left and right driving units 70includes a follower 71 that has a roller shape and is rotatably providedto the supporting portion 54 of the elevating holder 50, a rotating cam72 that comes into contact with the follower 71 to exercise a camfunction in the vertical direction Z, a motor 73 fixed to an outersurface of the sidewall 40 to drive the rotating cam 72, and others.

As shown in FIG. 7B, the rotating cam 72 is formed into a substantiallydiscoid shape that defines a cam surface 72 a by an outline, and therotating cam is directly connected with a rotary shaft 73 a of the motor73 extending through the sidewall 40 at a position biased from thecenter thereof.

Moreover, when the rotating cam 72 is rotated by driving of the motor73, the cam surface 72 a exercises the cam function with respect to thefollower 71, thereby driving each elevating holder 50 to be moved up anddown.

That is, (the supporting portion 61 of) each rocking arm 60 is separatedfrom (the horizontal frame 13 of) the carriage 10 to cancel thepositioning as shown in FIG. 8 when the rotating cam 72 is at a rotatingangle position where a lift amount is zero, (the horizontal frame 13 of)the carriage 10 is supported and the carriage 10 is gradually lifted upas (the supporting portion 61 of) each rocking arm 60 gets closer to thehorizontal state as shown in FIG. 9 when the rotating cam 72 is at arotating angle position where a predetermined lift amount is provided,and the carriage 10 is positioned to a predetermined height position (aheight position at which a transfer operation is performed) when therotating cam 72 is at a rotating angle position where a lift amountincreases.

It is to be noted that the rotating cam 72 may be formed in such amanner that (the supporting portion 61 of) each rocking arm 60 graduallylifts up (the horizontal arm 13 of) the carriage 10 and positions thecarriage to a predetermined height position (a height position where thetransfer operation is performed) while supporting the carriage when (thesupporting portion 61 of) each rocking arm 60 becomes horizontal andthen the rotating cam 72 further rotates.

Since the driving unit 70 has a simple configuration that the cammechanism generates elevating driving force as described above,simplification, miniaturization and others of the device can be achievedwhile assuredly performing the elevating operation.

As shown in FIG. 3, FIG. 5 and FIG. 6, the two left and right rollers 80are provided at predetermined positions on the inner surface of the leftand right sidewall 40 and rotatably supported.

Furthermore, the roller 80 rotatably comes into contact with a sidesurface of the supported portion 62 (a surface on a side facing thesidewall 40) of the rocking arm 60.

Since the positioning mechanism is constituted of the left and rightelevating holders 50, the left and right rocking arms 60, the left andright driving units 70, the left and right rollers 80 and others asdescribed above, the rocking arms 60 lift up the carriage 10 from boththe left and right sides and from the lower side and position thecarriage to a position apart from a floor surface, positioning anddistortion (inclination) correction of the carriage 10 are carried outduring a rocking operation (an operation for shifting from a separateddownward state to an engaged supporting state) of the rocking arms 60,the carriage 10 can be easily and highly accurately positioned to thepredetermined position without being affected by flatness of the floorsurface even if each carriage has, e.g., an assembly error in dimension,and distortion (inclination) of the carriage 10 can be corrected toprovide a predetermined posture. That is, the carriage 10 can be liftedup and positioned based on the simple structure and the simple linearmotion and the rocking motion, and distortion (inclination) can becorrected.

As shown in FIGS. 4, 10, 11A, and 11B, the two coupling driving units 90are provided on the right sidewall 40 at positions apart from each otherin the vertical direction Z, and each unit includes a coupling 91 thatis separably coupled with the driven rotating body 17 of the carriage 10to transmit a rotating torque, a motor fixed on the right sidewall 40 toexercise rotary driving force to the coupling 91, a coil spring 93 thatis arranged around a rotary shaft 92 a of the motor 92 and urges thecoupling 91 so as to protrude to a coupling position, and others.

As shown in FIGS. 10, 11A and 11B, the coupling 91 includes a couplingsurface 91 a that defines a convex portion coupled with (the couplingsurface 17 a that defines the concave portion of) the driven rotatingbody 17, an annular groove 91 b engaged with an interlocking member 102of a later-described synchronous driving unit 100, and an end surface 91c joined with the rotary shaft 92 a of the motor 92. Furthermore, thecoupling 91 can reciprocate for a predetermined distance in an axialdirection of the rotary shaft 92 a integrally with the rotary shaft 92a.

As shown in FIG. 11B, the coil spring 93 is compressed and arranged witha predetermined compression width around the rotary shaft 92 a between(the end face 92 b of) the motor 92 and the end face 91 c, and the coilspring urges the coupling 91 in a protruding direction (toward acoupling position).

As shown in FIGS. 5, 10, 11A, and 11B, the synchronous driving unit 100includes a rod 101 extended in the vertical direction Z to be supportedalong the right sidewall 40, two interlocking members 102 that are fixedto an upper part and a lower part of the rod 101 and engage with theannular grooves 91 b of the couplings 91, a driven arm 103 fixed to anintermediate region of the rod 101, a driving arm 104 connected to thedriven arm 103, and a motor 105 fixed to the sidewall 40 to rock thedriving arm 104.

Additionally, in the synchronous driving unit 100, when the motor 105rotates in forward and reverse directions, the driving arm 104 rocks,the driven arm 103 and the rod 101 rotate, and the two interlockingmembers 102 perform rocking between a separating position (see FIG. 11A)at which they move closer to the sidewall 40 to retract the coupling 91and a coupling position (see FIG. 11B) at which they move away from thesidewall 40 to protrude the coupling 91.

That is, when the carriage 10 is positioned to a predetermined heightposition by the positioning mechanism (the elevating holders 50, therocking arms 60, the driving units 70, and the rollers 80) in thecarrying-in area A1, the two driven rotating bodies 17 of the carriage10 are positioned to positions where the two driven rotating bodies facethe two couplings 91 in the lateral direction X as shown in FIG. 12.

Further, based on the coupling operation of the synchronous driving unit100 (when the motor 105 rotates the driving arm 104 to rotate the drivenarm 103 and the rod 101, the two interlocking members 102 release urgingforce of the coil spring 93), (the coupling surfaces 91 a of) the twocouplings 91 protrude to be coupled with the corresponding two drivenrotating bodies 17 (the coupling surfaces 17 a) as shown in FIG. 13.

Therefore, driving force is exercised with respect to the carrying body(the endless belt 15) arranged on the upper surface frame 102 of thecarriage 10 when the upper motor 92 rotates, and driving force isexercised with respect to the carrying body (the endless belt 15)arranged on the lower surface frame 11 of the carriage 10 when the lowermotor 92 rotates.

Since the coupling driving units 90 that are separably coupled so as toexercise the driving force to the carrying bodies (the endless belts 15)of the carriage 10 are provided on the sidewall 40 of the device M asdescribed above, simplification, weight saving, and cost reduction ofthe carriage 10 can be realized.

Furthermore, since the two coupling driving units 90 are provided todrive the carrying bodies (the endless belts 15) arranged on the twostages of the carriage 10, the racks W can be mounted on the two stagesin the vertical direction in the carriage 10, and the racks W can becarried (delivered and received) in the respective carrying bodies (theendless belts 15).

Moreover, since one synchronous driving unit 100 can perform thecoupling operation and the decoupling operation of the two couplingdriving units 90 in synchronization with each other, the configurationcan be simplified.

As shown in FIGS. 3 to 5, the transfer device 110 includes a mountmember 111 on which the rack W can be mounted and which is provided tobe capable of moving up and down in the vertical direction Z, a firstelevation driving mechanism 112 that drives the mount member 111 to moveup and down, an upper push member 113 provided to be capable of movingup and down in the vertical direction Z in an upper part where the upperpush member faces the mount member 111, a second elevation drivingmechanism 114 that drives the upper push member 113 to move up and down,a transfer hand 115 provided to be capable of reciprocating in thecarrying-in direction (the front-and-back direction) Y with respect tothe upper push member 113, a horizontal driving mechanism 116 thatreciprocates the transfer hand 115 in the carrying-in direction (thefront-and-back direction) Y.

As shown in FIGS. 3 and 5, the first elevation driving mechanism 112includes a lead screw 112 a that is rotatably supported with respect tothe rear wall 30 and extended in the vertical direction Z, a drivingmotor 112 b that drives the lead screw 112 a to rotate, a female screwmember (a ball nut member) 112 c fixed to the mount member 111 to bescrewed on the lead screw 112 a, two guide rails 112 d fixed to the rearwall 30 and extended in the vertical direction Z, guided portions 112 efixed to the mount member 111 to be slidably connected to the guiderails 112 d, and others. It is to be noted that although the two guiderails 112 d are arranged in parallel in this example, one guide rail maybe adopted.

Furthermore, when the driving motor 112 b rotates in a forward direction(or rotates in a reverse direction), the lead screw 112 a rotates in theforward direction (or rotates in the reverse direction), the guidedportions 112 e are guided in the vertical direction Z along the twoguide rails 112 d, and the mount member 111 is driven to move up (ordriven to move down).

As shown in FIGS. 3 to 5, the upper push member 113 is arranged to facean upper part of the mount member 111, and formed to be capable ofmoving up and down in the vertical direction Z with respect to the mountmember 111 so as to be capable of pushing the rack W (not shown) fromthe upper side.

Moreover, the upper push member 113 includes, in order to be moved upand down, guided portions 113 a slidably connected to the guide rails112 d, a follower 113 b that engages with a cam member 114 a of thesecond elevation driving mechanism 114, and others.

As shown in FIGS. 4 and 5, the second elevation driving mechanism 114 isprovided in an upper central region of the mount member 111 and on thedeeper side than the transfer area A2 in the carrying-in direction Y,and the second elevation driving mechanism includes a rotating cam 114 ahaving a predetermined cam lift amount in the vertical direction Z, amotor 114 b that drives the rotating cam 114 a to rotate, and others sothat the upper push member 113 and the transfer hand 115 can be moved upand down together.

As shown in FIG. 5, the rotating cam 114 a engages with the follower 113b of the upper push member 113, and the upper push member 113 (and thetransfer hand 115) is moved up and down for a predetermined height withrespect to the mount member 111 when the rotating cam 114 a rotates in apredetermined angular range.

That is, the upper push member 113 moves down to get closer to the mountmember 111 so as to push the rack W mounted on the mount member 111 fromabove and the transfer hand 115 moves down so as to mount the suspendedrack W onto the mount member 111 when the motor 114 b rotates in onedirection and, on the other hand, the upper push member 113 moves up tobe separated from the mount member 111 so as to cancel the pushing ofthe rack W and the transfer hand 115 moves up so as to suspend the rackW when the motor 114 b rotates in the other direction.

As shown in FIGS. 3 to 5, the transfer hand 115 is supported to becapable of relatively reciprocating with respect to the upper pushmember 113 in the carrying-in direction Y alone, and the transfer handis formed so as to be capable of reciprocating between a retractedposition at which the transfer hand faces the upper push member 113 fromthe lower side and a protruding position at which the transfer handprotrudes toward the front side (the carriage 10 side) in thecarrying-in direction Y from the upper push member 113.

Moreover, the transfer hand 115 is driven to move up and down togetherwith the upper push member 113 so as to suspend the rack W mounted onthe carriage 10 at the protruding position and put the rack W onto themount member 111 at the retracted position.

As shown in FIGS. 4 and 5, the horizontal driving mechanism 116 includesguide rails 116 a provided so as to extend in the carrying-in direction(the front-and-back direction) Y on the lower surface of the upper pushmember 113, guided portions 116 b fixed to the upper surface of thetransfer hand 115 and slidably connected to the guide rails 116 a, along groove member 116 c that defines a long groove 116 c′ extendeddownward from a part of the transfer hand 115, a motor 116 d fixed tothe upper push member 113, a connecting arm 116 e which is directlyconnected to a rotary shaft of the motor 116 d and driven to rotatewithin a YZ plane and whose end is movably connected to the long groove116 c′, and others. Additionally, as shown in FIG. 4, the transfer hand115 is usually positioned at the retracted position where the transferhand faces the lower surface of the upper push member 113. In thisretracted state, when the motor 116 d rotates (rotates in acounterclockwise direction in FIG. 4) in one direction by apredetermined angle, the connecting arm 116 e rotates and moves to asubstantially horizontal position at which the connecting arm faces thefront side, and the transfer hand 115 is positioned at the protrudingposition where the transfer hand protrudes to the front side (thecarriage 10 side) in the carrying-in direction Y with respect to theupper push member 113. Then, when the motor 116 d rotates (rotates in aclockwise direction in FIG. 4) in a reverse direction by a predeterminedangle, the connecting arm 116 e rotates and returns to the substantiallyhorizontal retracted position where the connecting arm faces the deepside as shown in FIG. 4.

That is, the transfer mechanism 110 is formed so as to mount the rack Wbetween the carrying bodies (the endless belts 15) on the two stages ofthe carriage 10 and the transfer area A2. Therefore, the transfermechanism 110 can transfer the rack W accommodating unprocessedcomponents to the transfer area A2 from the lower carrying body (themount portion) on the carriage 10 and transfer the rack W accommodatingprocessed components to the upper side of the carrying body (the mountportion) on the carriage 10.

An operation of the transfer device will now be described with referenceto FIGS. 14 to 18.

First, as shown in FIG. 14, the carriage 10 having the racks W mountedthereon is carried into the carrying-in area A1 of the device M by anoperator (step S1).

In this carrying-in operation, the operator carries the carriage 10 inthe carrying-in area along the positioning guides 21. Then, the carriage10 is positioned in an allowable range within a horizontal plane in thecarrying-in direction Y and the lateral direction X by the positioningguides 21, and distortion (inclination) in the lateral direction X iscorrected by the correction guides 42, whereby the carriage 10 is heldin a predetermined posture (step S1).

Subsequently, when the left and right driving units 70 are activated insynchronization with each other and the left and right elevating holders50 move up for a predetermined distance, the left and right rocking arms60 rotate substantially 90 degrees from the lower side toward the upperside as shown in FIG. 15 and support (the left and right horizontalframes 13 of) the carriage 10 so as to sandwich the carriage from boththe left and right sides, thereby lifting up the carriage 10 from thefloor surface (step S2).

As a result, the carriage 10 is positioned at a predetermined positionin the carrying-in direction Y and the horizontal direction (the lateraldirection) X vertical to the carrying-in direction Y, and the firstguide portion 63 provided to the supporting portion 61 of one of theleft and right rocking arms 60 placed on the deep side in thecarrying-in direction Y corrects distortion (inclination) in thecarrying-in direction Y, whereby the carriage 10 is held in apredetermined posture.

Subsequently, when the left and right driving units 70 are activated insynchronization with each other and the left and right elevating holders50 further move up for a predetermined distance, the left and rightrocking arms 60 further move up while supporting the carriage 10 asshown in FIG. 16, thus effecting positioning to a predetermined heightposition (step S3).

In this positioning state, the driven rotating bodies 17 of the carriage10 are positioned at positions where the driven rotating bodies face thecouplings 91 of the coupling driving units 90 in the lateral directionX.

Then, as shown in FIG. 17, the synchronous driving unit 100 is activatedto couple the two couplings 91 of the two coupling driving units 90 withthe two driven rotating bodies 17 of the carriage 10 (step S4).

It is to be noted that, when coupling achieved between the couplings 91and the driven rotating bodies 17 is insufficient in this couplingoperation, rotating the motors 92 of the coupling driving units 90enables meshing the coupling surfaces 17 a and 91 a of both the memberswhile sliding, whereby coupling can be assuredly carried out.

Subsequently, based on activation of the transfer mechanism 110, thetransfer hand 115 moves to the protruding position where the transferhand protrudes toward the carriage 10 from the retracted position tosuspend the racks W mounted on (the lower carrying body of) the carriage10, and then the transfer hand 115 again moves to the retracted positionto transfer the racks W to the transfer area A2 as indicated by (S5) inFIG. 18. Further, in the carriage 10, the lower carrying body (theendless belt 15) rotates to feed one rack W alone toward the deep sidebased on activation of the lower coupling driving unit 90, and theentire remaining racks W are moved to close up a vacant space of thetransferred rack W (step S5).

Additionally, components in the rack W transferred to the transfer areaA2 and held by the transfer mechanism 110 are transferred to apredetermined processing area by the second transfer mechanism 120.Further, components subjected to predetermined processing areaccommodated in the rack W held in the transfer area A2.

Then, as indicated by (S6) in FIG. 18, the transfer mechanism 110transfers the rack W filled with processed components onto the uppercarrying body (the endless belt 15) of the carriage 10 from the transferarea A2. Then, in the carriage 10, the upper carrying body (the endlessbelt 15) carries the racks W step by step to be pushed over to theforefront side (the grip 19 side) based on activation of the uppercoupling driving unit 90 (step S6).

Here, although an example of the transfer operation has been described,the empty rack W whose components have been transferred to theprocessing area may be transferred to the carriage 10 rather thantransferring the rack W accommodating processed components to thecarriage 10.

As described above, according to the transfer device mentioned above,since the rocking arms 60 lift up the carriage 10 from both the left andright sides and from the lower side and position the carriage to aposition apart from the floor surface and the carriage 10 is positionedin the rocking operation (the operation for shifting from the separateddownward state to the engaged support state) of the rocking arms 60, thecarriage 10 can be easily and highly accurately positioned to apredetermined height position without being affected by flatness of thefloor surface even if each carriage 10 has, e.g., an assembly error indimension, and transfer (delivery or reception) of each rack W can besmoothly, assuredly, and efficiently performed between the carriage 10and the transfer area A2 to which the rack is transferred to besubjected to processing.

That is, the two left and right correction guides 42 correct distortion(inclination) of the carriage 10 in the lateral direction X when thecarriage 10 is positioned at a predetermined position in the carrying-inarea A1, and the first guide portions 63 (the tapered surfaces 63 a) ofthe rocking arms 60 correct distortion (inclination) of the carriage 10in the carrying-in direction Y when the left and right rocking arms 60lift up and hold the carriage 10.

Therefore, even if the carriage 10 has distortion (inclination) orbacklash in the horizontal direction (within the XY plane), the carriage10 is readily corrected to a predetermined posture and highly accuratelypositioned to a predetermined position, whereby transfer (delivery orreception) of each rack W can be smoothly, assuredly, and efficientlyperformed between the carriage 10 and the transfer area A2.

FIGS. 19 and 20 show another embodiment of the driving unit forming apart of the transfer device according to the present invention.

In the embodiment depicted in FIG. 19, a driving unit 70′ includes afollower 71′ having a small diameter and a semicircular rotating cam 72′in place of the follower 71 and the rotating cam 72 mentioned above.

The rotating cam 72′ has a cam groove 72 a′ formed into an arc grooveshape, and the follower 71′ is inserted into the cam groove 72 a. Thatis, when the rotating cam 72′ moves down the elevating holder 50, thecam groove 72 a′ of the rotating cam 72′ functions as a restrictionmember that restricts the follower 71′ from being separated from therotating cam 72′.

Further, in the embodiment depicted in FIG. 20, a driving unit 70″includes a restriction member 74″ formed to protrude in a J-like shapefrom the lower part of the elevating holder 50.

The restriction member 74″ restricts the follower 71 from beingseparated from the rotating cam 72 when the rotating cam 72 moves downthe elevating holder 50.

When the rotating cam 72 or 72′ moves down the elevating holder 50 inthis manner, the follower 71 or 71′ can be restricted from beingseparated from the rotating cam 72 or 72′, whereby the elevating holder50 can be prevented from being caught and stopped on the way. As aresult, the carriage 10 can be assuredly moved down to cancelpositioning.

FIG. 21 shows another embodiment of the rocking arm forming a part ofthe transfer device according to the present invention.

In this embodiment, a supported portion 62′ of a rocking arm 60′ isformed so as to concavely curve in a region that is in contact with theroller 80 on the upper part of the back surface on the side facing thesidewall 40, i.e. so as to define a curved surface 62 a.

Therefore, when the supported portion 62′ is moved up and down, theroller 80 is maintained in a state that the roller is constantly incontact with the concave curved surface 62 a′ of the supported portion62′. As a result, the rocking arm 60′ is not separated from the carriage10 by its own weight, but forcibly separated from the carriage 10 by theroller 80 as shown in FIG. 21. Consequently, the separating operationcan be more assuredly performed with respect to the rocking arm 60′.

FIG. 22 shows still another embodiment of the rocking arm forming a partof the transfer device according to the present invention.

In this embodiment, a rocking arm 60″ integrally includes a second guideportion 65″ that inclines downwards from the supported portion 62 to thesupporting portion 61. The second guide portion 65″ defines a curvedsurface 65 a″ that convexly curves.

Therefore, when the rocking arm 60″ shifts to a state that the rockingarm engages with and supports (the horizontal frame 13 of) the carriage10 from a state that the rocking arm is separated from the carriage 10,the rocking arm 60″ positions (the horizontal frame 13) of the carriage10 to the center in the lateral direction (the horizontal directionvertical to the carrying-in direction Y) X in the carrying-in area A1while guiding the carriage 10 by the curved surface 65 a″ of the secondguide portion 65″, whereby the carriage 10 can be further accuratelypositioned. It is to be noted that although the second guide portion 65″has the convex curved surface, the second guide portion may have alinear flat surface.

Although the rocking arm 60, 60′, or 60″ having a substantially-L-likeshape is included as the positioning mechanism that positions thecarriage 10 in the foregoing embodiment, the present invention is notlimited to the substantially-L-like shape, and a rocking arm having anyother structure may be adopted as long as it supports and lifts up thecarriage 10 from lower side so as to sandwich the carriage from bothleft and right sides and it positions the carriage to a predeterminedheight.

Although the elevating holders 50, the driving units 70, 70′, or 70″having the cam function and the rollers 80 have been explained as thedriving mechanism that rocks the rocking arms 60, 60′, or 60″ in theforegoing embodiment, the present invention is not limited thereto, andany other driving mechanism may be adopted as long as it rocks therocking arms.

Although the carriage 10 is provided with the mount portions (thecarrying bodies) on two stages in the foregoing embodiment, the presentinvention is not limited thereto, and a structure that the mount portion(the carrying body) on a single stage or the plurality of mount portions(the carrying bodies) on three or more stages may be provided and thecorresponding number of coupling driving units 90 are also provided onthe device side may be adopted.

Although the transfer hand 115 that linearly moves is included as thetransfer mechanism 110 in the foregoing embodiment, the presentinvention is not limited thereto, and a universal arm thatthree-dimensionally moves may be adopted.

Although the rack W that accommodates components on a plurality ofstages has been described as the object in the foregoing embodiment, thepresent invention is not limited thereto, and the object may be acomponent itself, or it may be a magazine or a cassette.

Although the hand carriage 10 that is manually moved by an operator hasbeen described as the carriage in the foregoing embodiment, the presentinvention is not limited thereto, and a self-propelled carriage having aself-propelling function may be adopted.

Although the positioning guides 21 that are defined by the base 10 areprovided to perform general positioning within the horizontal plane whenan operator has carried the carriage 10 into the carrying-in area A1 inthe foregoing embodiment, the present invention is not limited thereto,and a positioning member provided so as to connect the left and rightsidewalls 40 with each other may be adopted in a region excluding atransfer path for the object.

Further, sidewall plates extended downwards to reach the region of thewheels 18 may be provided to the lower surface frame 11 so that thelinear edge portions 21 a of the positioning guides 21 can guide theentire side surfaces of the carriage 10.

INDUSTRIAL APPLICABILITY

As described above, since the transfer device according to the presentinvention can highly accurately position a carriage having an object(e.g., a component such as a substrate, or a rack, a magazine or acassette accommodating components) mounted thereon to a predeterminedposition while achieving simplification of a configuration and areduction in cost and can smoothly, assuredly and efficiently performtransfer (delivery or reception) of the object between the carriage anda transfer area to which the object is transferred to be subjected topredetermined processing, it can be of course utilized in a productionline for transferring components for electronic devices or a productionline for transferring mechanical components, and it is also useful in,e.g., a transfer line for transferring components, products, and othersin other fields.

1. A transfer device that positions a carriage to a predeterminedposition, the carriage being configured to carry an object thereon, saidtransfer device transferring the object between the carriage and atransfer area, and said transfer device comprising: a base defining acarrying-in area into which the carriage is moved, said base having leftand right sidewalls provided on left and right sides of said base,respectively; a position mechanism including: left and right rockingarms that are provided on the left and right sides of said base,respectively, and configured to engage with and disengage from thecarriage in such a manner that, with the carriage in said carrying-inarea, said rocking arms are positioned on opposite sides of the carriagewith respect to a lateral direction of the carriage so as to sandwichthe carriage there between and are operable to lift the carriage up fromthe opposite sides of the carriage and position the carriage at apredetermined height; a transfer mechanism for transferring the objectbetween the carriage, having been positioned at the predetermined heightby said positioning mechanism, and the transfer area; left and rightguide rails that are provided on said left and right sidewalls,respectively, so as to extend in a vertical direction; left and rightelevating holders on which said left and right rocking arms aresupported, respectively, so as to be able to rock relative thereto, saidleft and right elevating holders being guided by said left and rightguide rails, respectively, for up and down movement; left and rightdriving units that are arranged on said left and right sidewalls of saidbase, respectively, for driving said left and right elevating holders,respectively, to move up and down; and left and right engagementportions that are arranged on said left and right sidewalls of saidbase, respectively, and configured and positioned to rock said left andright rocking arms, respectively, by engaging said left and rightrocking arms in response to said left and right rocking arms beingvertically moved together with said left and right elevating holders,respectively, by said left and right driving units, respectively.
 2. Thetransfer device of claim 1, wherein the carriage has a carrying bodythat can be driven to carry the object, and said transfer device furthercomprises a coupling driving unit that includes: a coupling that isconfigured so as to be separably coupled with the carrying body of thecarriage, having been positioned at the predetermined height; a motorfor providing a driving force to said coupling; and a driving unit thatis configured and arranged to move the coupling between a couplingposition in which said coupling is coupled with the carrying body and aseparated position in which said coupling is separated from the carryingbody.
 3. The transfer device of claim 2, wherein the carrying body ofthe carriage comprises a plurality of carrying bodies on a plurality ofstages that are vertically separated, the carrying bodies havingrespective driven rotating bodies, and wherein said coupling drivingunit comprises a plurality of coupling driving units capable of beingseparably coupled with respective said driven rotating bodies of saidcarrying bodies on said plurality of stages.
 4. The transfer device ofclaim 3, and further comprising one synchronous driving unit thatcouples and decouples said plurality of coupling driving units foroperation in synchronization with each other.
 5. The transfer device ofclaim 3, wherein said transfer mechanism is configured and arranged totransfer the object between the carrying bodies on the plurality ofstages and said transfer area.
 6. The transfer device of claim 1, andfurther comprising a correction mechanism for correcting distortion inthe lateral direction of the carriage that is carried in to saidcarrying-in area.
 7. The transfer device of claim 6, wherein saidcorrection mechanism includes at least two correction guides that arearranged at a predetermined interval in the lateral direction so as toengage with opposed inner portions of vertical frames that form a partof the carriage.
 8. The transfer device of claim 1, wherein said rockingarms include guide portions that engage with vertical frames that form apart of the carriage and position the carriage while guiding thecarriage in a direction in which the carriage moves into saidcarrying-in area simultaneously with said rocking arms liftinghorizontal frames that form a part of the carriage as said rocking armsrotate upwardly in response to engagement with said engagement portions.9. The transfer device of claim 1, wherein each of said rocking arms isformed as a substantially L-shape and defines a supporting portion forsupporting the carriage and a supported portion that extends from an endportion of the supporting portion and is rotatably supported on one ofsaid elevating holders, and each of said engagement portions is a rollerthat rotatably contacts said supported portion of a respective one ofsaid rocking arms.
 10. The transfer device of claim 9, wherein each ofsaid rocking arms has a guide portion that inclines downwards from saidsupported portion to said supporting portion.
 11. The transfer device ofclaim 9, wherein each of said rocking arms has a region of saidsupported portion thereof in contact with said roller and formed as aconcave curve.
 12. The transfer device of claim 1, wherein each of saiddriving units comprises a follower that is provided on one of saidelevating holders, a rotating cam in contact with said follower so as tomove said follower in a vertical direction in response to rotation ofsaid rotating cam, and a motor for rotating said rotating cam.
 13. Thetransfer device of claim 12, wherein one of said driving units includesa restriction member that restricts said follower from being separatedfrom said rotating cam when said rotating cam lowers said elevatingholder.
 14. The transfer device of claim 1, wherein said carrying-inarea comprises positioning guides that position the carriage whileguiding the carriage in a carrying-in direction and in the lateraldirection.